Create workspace in ros2: ros2 pkg create --build-type ament_cmake <package_name>

Clear colcon path: unset COLCON_PREFIX_PATH unset AMENT_PREFIX_PATH unset CMAKE_PREFIX_PATH

To use SLAM on Testbed: ros2 launch my_bot launch_sim.launch.py world:=./src/my_bot/worlds/test3.world //Gazebo

rviz2 -d src/my_bot/config/costmap.rviz //rviz with costmap

ros2 launch my_bot navigation_launch.py use_sim_time:=true //nav2

//SLAM

ros2 launch slam_toolbox online_async_launch.py params_file:=./src/my_bot/config/mapper_params_online_async.yaml use_sim_time:=true

Launch my_bot in rviz: rviz2 -d src/my_bot/config/laser_scan.rviz

Launch teleop twist keyboard: ros2 run teleop_twist_keyboard teleop_twist_keyboard

To open bash rc: gedit ~/.bashrc